{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,21]],"date-time":"2026-04-21T09:01:43Z","timestamp":1776762103241,"version":"3.51.2"},"reference-count":34,"publisher":"American Association for the Advancement of Science (AAAS)","funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["T2121002"],"award-info":[{"award-number":["T2121002"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62403013"],"award-info":[{"award-number":["62403013"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100005090","name":"Beijing Nova Program","doi-asserted-by":"publisher","award":["20240484499"],"award-info":[{"award-number":["20240484499"]}],"id":[{"id":"10.13039\/501100005090","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003787","name":"Natural Science Foundation of Hebei Province","doi-asserted-by":"publisher","award":["F2024203130"],"award-info":[{"award-number":["F2024203130"]}],"id":[{"id":"10.13039\/501100003787","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012152","name":"National Postdoctoral Program for Innovative Talents","doi-asserted-by":"publisher","award":["BX20240010"],"award-info":[{"award-number":["BX20240010"]}],"id":[{"id":"10.13039\/501100012152","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002858","name":"China Postdoctoral Science Foundation","doi-asserted-by":"publisher","award":["2024M760112"],"award-info":[{"award-number":["2024M760112"]}],"id":[{"id":"10.13039\/501100002858","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62533001"],"award-info":[{"award-number":["62533001"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62233001"],"award-info":[{"award-number":["62233001"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["spj.science.org"],"crossmark-restriction":true},"short-container-title":["Cyborg Bionic Syst"],"published-print":{"date-parts":[[2026,1,1]]},"abstract":"<jats:p>\n                    Bioinspired adhesives mimicking octopuses, tree frogs, and geckos enable robots to grip and manipulate diverse surfaces. However, most existing systems use a single adhesion mechanism, limiting adaptability and hindering strong, reversible attachment across diverse surface conditions and environmental media. Here, inspired by the oral sucker of the lamprey (\n                    <jats:italic toggle=\"yes\">Lethenteron reissneri<\/jats:italic>\n                    ), we present a hybrid suction disc that integrates a thermally switchable shape-memory polymer (SMP) panel for surface conformity and a soft silicone lip for vacuum suction. When heated, the SMP softens to conform to surface irregularities; subsequent cooling restiffens it, enabling mechanical interlocking with surface asperities under vacuum. This synergistic design achieves robust, reversible, and cross-medium adhesion on challenging surfaces, both in air and underwater. The disc generated peak pull-off forces of 562\u00a0N in air and 590\u00a0N underwater on smooth substrates, over 850 times its own weight, and maintained strong adhesion even on rough surfaces (&gt;707\u00a0\u03bcm) where conventional suction fails. Incorporating the SMP improved adhesion by 377% in air and 270% underwater compared to vacuum alone. Shear friction tests showed similar enhancements, and attachments remained secure for 26.8 h under load. The hybrid disc also enabled robotic demonstrations of gripping and cross-medium manipulation when mounted on a mechanical arm, highlighting its potential for real-world robotic applications. This work paves the way for developing multimodal adhesion systems and amphibious robots capable of adaptive gripping and reliable operation across diverse environments.\n                  <\/jats:p>","DOI":"10.34133\/cbsystems.0527","type":"journal-article","created":{"date-parts":[[2026,1,26]],"date-time":"2026-01-26T09:54:52Z","timestamp":1769421292000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark_01","source":"Crossref","is-referenced-by-count":0,"title":["Lamprey-Inspired Amphibious Suction Disc with Hybrid Adhesion Mechanism"],"prefix":"10.34133","volume":"7","author":[{"given":"Lei","family":"Li","sequence":"first","affiliation":[{"name":"Institute of Ocean Research, \rPeking University, Beijing 100871, China."},{"name":"School of Advanced Manufacturing and Robotics, \rPeking University, Beijing 100871, China."}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wenzhuo","family":"Gao","sequence":"additional","affiliation":[{"name":"School of Advanced Manufacturing and Robotics, \rPeking University, Beijing 100871, China."}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Boyang","family":"Qin","sequence":"additional","affiliation":[{"name":"School of Advanced Manufacturing and Robotics, \rPeking University, Beijing 100871, China."}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yiyuan","family":"Zhang","sequence":"additional","affiliation":[{"name":"College of Design and Engineering, \rNational University of Singapore, Singapore 119077, Singapore."}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Changhong","family":"Linghu","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, \rCity University of Hong Kong, Hong Kong SAR 999077, China."}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bo","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Advanced Manufacturing and Robotics, \rPeking University, Beijing 100871, China."}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yitian","family":"Ma","sequence":"additional","affiliation":[{"name":"School of Mechanical and Electrical Engineering, \rBeijing Institute of Technology, Beijing 100081, China."}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shihan","family":"Kong","sequence":"additional","affiliation":[{"name":"School of Advanced Manufacturing and Robotics, \rPeking University, Beijing 100871, China."}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6347-572X","authenticated-orcid":true,"given":"Junzhi","family":"Yu","sequence":"additional","affiliation":[{"name":"School of Advanced Manufacturing and Robotics, \rPeking University, Beijing 100871, China."}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"221","published-online":{"date-parts":[[2026,2,24]]},"reference":[{"key":"e_1_3_4_2_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2023.0253"},{"key":"e_1_3_4_3_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2017.0133"},{"issue":"84","key":"e_1_3_4_4_2","doi-asserted-by":"crossref","DOI":"10.1126\/scirobotics.adh7852","article-title":"Octopus-inspired sensorized soft arm for environmental interaction","volume":"8","author":"Xie Z","year":"2023","unstructured":"Xie Z, Yuan F, Liu J, Tian L, Chen B, Fu Z, Mao S, Jin T, Wang Y, He X, et al. Octopus-inspired sensorized soft arm for environmental interaction. Soft Robot. 2023;8(84): Article eadh7852.","journal-title":"Soft Robot"},{"issue":"17","key":"e_1_3_4_5_2","doi-asserted-by":"crossref","first-page":"2104382","DOI":"10.1002\/advs.202104382","article-title":"Glowing sucker octopus (Stauroteuthis syrtensis )-inspired soft robotic gripper for underwater self-adaptive grasping and sensing","volume":"9","author":"Wu M","year":"2022","unstructured":"Wu M, Zheng X, Liu R, Hou N, Afridi WH, Afridi RH, Guo X, Wu J, Wang C, Xie G. Glowing sucker octopus (Stauroteuthis syrtensis )-inspired soft robotic gripper for underwater self-adaptive grasping and sensing. Adv Sci. 2022;9(17):2104382.","journal-title":"Adv Sci"},{"issue":"66","key":"e_1_3_4_6_2","doi-asserted-by":"crossref","DOI":"10.1126\/scirobotics.abm6695","article-title":"Aerial-aquatic robots capable of crossing the air-water boundary and hitchhiking on surfaces","volume":"7","author":"Li L","year":"2022","unstructured":"Li L, Wang S, Zhang Y, Song S, Wang C, Tan S, Zhao W, Wang G, Sun W, Yang F, et al. Aerial-aquatic robots capable of crossing the air-water boundary and hitchhiking on surfaces. Soft Robot. 2022;7(66): Article eabm6695.","journal-title":"Soft Robot"},{"key":"e_1_3_4_7_2","doi-asserted-by":"publisher","DOI":"10.1038\/35015073"},{"key":"e_1_3_4_8_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.019232"},{"issue":"61","key":"e_1_3_4_9_2","doi-asserted-by":"crossref","DOI":"10.1126\/scirobotics.abj7562","article-title":"Bird-inspired dynamic grasping and perching in arboreal environments","volume":"6","author":"Roderick WRT","year":"2021","unstructured":"Roderick WRT, Cutkosky MR, Lentink D. Bird-inspired dynamic grasping and perching in arboreal environments. 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Bioinspir Biomim. 2011;6(4): Article 046005.","journal-title":"Bioinspir Biomim"},{"issue":"1","key":"e_1_3_4_15_2","doi-asserted-by":"crossref","DOI":"10.1098\/rsos.190990","article-title":"Knowing when to stick: Touch receptors found in the remora adhesive disc","volume":"7","author":"Cohen KE","year":"2020","unstructured":"Cohen KE, Flammang BE, Crawford CH, Hernandez LP. Knowing when to stick: Touch receptors found in the remora adhesive disc. R Soc Open Sci. 2020;7(1): Article 190990.","journal-title":"R Soc Open Sci"},{"issue":"1","key":"e_1_3_4_16_2","doi-asserted-by":"crossref","first-page":"65","DOI":"10.1109\/TRO.2007.909786","article-title":"Smooth vertical surface climbing with directional adhesion","volume":"24","author":"Kim S","year":"2008","unstructured":"Kim S, Spenko M, Trujillo S, Heyneman B, Santos D, Cutkosky MR. Smooth vertical surface climbing with directional adhesion. 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Nat Commun. 2023;14(1):6652.","journal-title":"Nat Commun"},{"key":"e_1_3_4_22_2","doi-asserted-by":"crossref","first-page":"713","DOI":"10.1111\/j.1469-7998.1987.tb05966.x","article-title":"A proposal for the functional and phylogenetic significance of differences in the dentition of lampreys (Agnatha: Petromyzontiformes)","volume":"212","author":"Potter IC","year":"1987","unstructured":"Potter IC, Hilliard RW. A proposal for the functional and phylogenetic significance of differences in the dentition of lampreys (Agnatha: Petromyzontiformes). J Zool. 1987;212:713\u2013737.","journal-title":"J Zool"},{"issue":"4","key":"e_1_3_4_23_2","doi-asserted-by":"crossref","DOI":"10.1371\/journal.pone.0247884","article-title":"Measurement of suction pressure dynamics of sea lampreys, Petromyzon marinus","volume":"16","author":"Shi H","year":"2021","unstructured":"Shi H, Holbrook CM, Cao Y, Sep\u00falveda N, Tan X. Measurement of suction pressure dynamics of sea lampreys, Petromyzon marinus. PLOS ONE. 2021;16(4): Article e0247884.","journal-title":"PLOS ONE"},{"issue":"7","key":"e_1_3_4_24_2","doi-asserted-by":"crossref","DOI":"10.1126\/sciadv.aay5120","article-title":"Universal SMP gripper with massive and selective capabilities for multiscaled, arbitrarily shaped objects","volume":"6","author":"Linghu C","year":"2020","unstructured":"Linghu C, Zhang S, Wang C, Yu K, Li C, Zeng Y, Zhu H, Jin X, You Z, Song J. Universal SMP gripper with massive and selective capabilities for multiscaled, arbitrarily shaped objects. Sci Adv. 2020;6(7): Article eaay5120.","journal-title":"Sci Adv"},{"issue":"3","key":"e_1_3_4_25_2","doi-asserted-by":"crossref","DOI":"10.1126\/sciadv.adt4765","article-title":"Versatile adhesive skin enhances robotic interactions with the environment","volume":"11","author":"Linghu C","year":"2025","unstructured":"Linghu C, Liu Y, Yang X, Chen Z, Feng J, Zhang Y, Li Y, Zhao Z, Seo Y-J, Li J, et al. 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Bioinspir Biomim. 2014;9(4): Article 046002.","journal-title":"Bioinspir Biomim"},{"key":"e_1_3_4_28_2","doi-asserted-by":"publisher","DOI":"10.1038\/nature22382"},{"issue":"5","key":"e_1_3_4_29_2","doi-asserted-by":"crossref","first-page":"553","DOI":"10.1089\/soro.2024.0152","article-title":"A sensorized mechanically self-guided suction cup for improved adhesion in complex environments","volume":"12","author":"Yuan F","year":"2025","unstructured":"Yuan F, Tian L, Xu H, Fu Z, Wu W, Xie Z, Yuan B, Wang T, Ding X, Wen L. A sensorized mechanically self-guided suction cup for improved adhesion in complex environments. Soft Robot. 2025;12(5):553\u2013565.","journal-title":"Soft Robot"},{"key":"e_1_3_4_30_2","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.abq1905"},{"issue":"30","key":"e_1_3_4_31_2","doi-asserted-by":"crossref","DOI":"10.1126\/sciadv.adx3539","article-title":"Starfish-inspired tube feet for temporary and switchable underwater adhesion and transportation","volume":"11","author":"Lee H","year":"2025","unstructured":"Lee H, Ryu Y, Oh Y, Kim C, Lee Y, Choi H, Kim J, Kim JH, Kang J, Park K, et al. Starfish-inspired tube feet for temporary and switchable underwater adhesion and transportation. Sci Adv. 2025;11(30): Article eadx3539.","journal-title":"Sci Adv"},{"issue":"1784","key":"e_1_3_4_32_2","doi-asserted-by":"crossref","first-page":"20190204","DOI":"10.1098\/rstb.2019.0204","article-title":"Learning from northern clingfish (Gobiesox maeandricus): Bioinspired suction cups attach to rough surfaces","volume":"374","author":"Ditsche P","year":"2019","unstructured":"Ditsche P, Summers A. Learning from northern clingfish (Gobiesox maeandricus): Bioinspired suction cups attach to rough surfaces. Philos Trans R Soc B. 2019;374(1784):20190204.","journal-title":"Philos Trans R Soc B"},{"issue":"6","key":"e_1_3_4_33_2","doi-asserted-by":"crossref","DOI":"10.1088\/1748-3190\/ab47d1","article-title":"Reversible adhesion to rough surfaces both in and out of water, inspired by the clingfish suction disc","volume":"14","author":"Sandoval JA","year":"2019","unstructured":"Sandoval JA, Jadhav S, Quan H, Deheyn DD, Tolley MT. Reversible adhesion to rough surfaces both in and out of water, inspired by the clingfish suction disc. Bioinspir Biomim. 2019;14(6): Article 066016.","journal-title":"Bioinspir Biomim"},{"key":"e_1_3_4_34_2","doi-asserted-by":"crossref","unstructured":"Sadeghi A Beccai L Mazzolai B. Design and development of innovative adhesive suckers inspired by the tube feet of sea urchins. In: 2012 4th IEEE RAS & EMBS international conference on biomedical robotics and biomechatronics (BioRob). Rome (Italy): IEEE; 2012. p. 617\u2013622.","DOI":"10.1109\/BioRob.2012.6290867"},{"issue":"3","key":"e_1_3_4_35_2","doi-asserted-by":"crossref","first-page":"1801542","DOI":"10.1002\/admi.201801542","article-title":"Reversible underwater dry adhesion of a shape memory polymer","volume":"6","author":"Park JK","year":"2019","unstructured":"Park JK, Eisenhaure JD, Kim S. Reversible underwater dry adhesion of a shape memory polymer. Adv Materials Inter. 2019;6(3):1801542.","journal-title":"Adv Materials Inter"}],"container-title":["Cyborg and Bionic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/spj.science.org\/doi\/pdf\/10.34133\/cbsystems.0527","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,21]],"date-time":"2026-04-21T08:21:36Z","timestamp":1776759696000},"score":1,"resource":{"primary":{"URL":"https:\/\/spj.science.org\/doi\/10.34133\/cbsystems.0527"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,1,1]]},"references-count":34,"alternative-id":["10.34133\/cbsystems.0527"],"URL":"https:\/\/doi.org\/10.34133\/cbsystems.0527","relation":{},"ISSN":["2692-7632"],"issn-type":[{"value":"2692-7632","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,1,1]]},"assertion":[{"value":"2025-10-28","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-01-03","order":1,"name":"revised","label":"Revised","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-01-25","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-02-24","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"0527"}}